// *****************************************************************************
//
// Copyright (c) 2014, Southwest Research Institute® (SwRI®)
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//     * Redistributions of source code must retain the above copyright
//       notice, this list of conditions and the following disclaimer.
//     * Redistributions in binary form must reproduce the above copyright
//       notice, this list of conditions and the following disclaimer in the
//       documentation and/or other materials provided with the distribution.
//     * Neither the name of Southwest Research Institute® (SwRI®) nor the
//       names of its contributors may be used to endorse or promote products
//       derived from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL <COPYRIGHT HOLDER> BE LIABLE FOR ANY
// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
// *****************************************************************************

#ifndef MAPVIZ_PLUGINS_ROBOT_IMAGE_PLUGIN_H_
#define MAPVIZ_PLUGINS_ROBOT_IMAGE_PLUGIN_H_

// C++ standard libraries
#include <string>

#include <mapviz/mapviz_plugin.h>

// QT libraries
#include <QGLWidget>
#include <QObject>
#include <QWidget>

// ROS libraries
#include <ros/ros.h>
#include <tf/transform_datatypes.h>

#include <mapviz/map_canvas.h>

// QT autogenerated files
#include "ui_robot_image_config.h"
#include "ui_topic_select.h"

namespace mapviz_plugins
{
  class RobotImagePlugin : public mapviz::MapvizPlugin
  {
    Q_OBJECT

  public:
    RobotImagePlugin();
    virtual ~RobotImagePlugin();

    bool Initialize(QGLWidget* canvas);
    void Shutdown() {}

    void Draw(double x, double y, double scale);

    void Transform();

    void LoadConfig(const YAML::Node& node, const std::string& path);
    void SaveConfig(YAML::Emitter& emitter, const std::string& path);

    QWidget* GetConfigWidget(QWidget* parent);

  protected:
    void PrintError(const std::string& message);
    void PrintInfo(const std::string& message);
    void PrintWarning(const std::string& message);

  protected Q_SLOTS:
    void SelectFile();
    void SelectFrame();
    void FrameEdited();
    void ImageEdited();
    void WidthChanged(double value);
    void HeightChanged(double value);
    void OffsetXChanged(double value);
    void OffsetYChanged(double value);
    void RatioEqualToggled(bool toggled);
    void RatioCustomToggled(bool toggled);
    void RatioOriginalToggled(bool toggled);

  private:
    Ui::robot_image_config ui_;
    QWidget* config_widget_;

    double width_; //image width, if robot frame is x-forward this corresponds to robot length
    double height_; //image height, corresponds to robot width
    double offset_x_; //offset of image center from robot frame along x axis
    double offset_y_; //offset of image center from robot frame along y axis
    double image_ratio_;

    std::string filename_;
    QImage      image_;
    int dimension_;
    int texture_id_;
    bool texture_loaded_;

    bool transformed_;

    tf::Point top_left_;
    tf::Point top_right_;
    tf::Point bottom_left_;
    tf::Point bottom_right_;

    tf::Point top_left_transformed_;
    tf::Point top_right_transformed_;
    tf::Point bottom_left_transformed_;
    tf::Point bottom_right_transformed_;

    void UpdateShape();
    void LoadImage();
  };
}

#endif  // MAPVIZ_PLUGINS_ROBOT_IMAGE_PLUGIN_H_
